//
// Created by sxy on 2020/12/8.
//

#ifndef SRC_PATH_PUBLISHER_H
#define SRC_PATH_PUBLISHER_H

#include <string>
#include <Eigen/Dense>
#include <ros/ros.h>
#include <nav_msgs/Path.h>
#include <geometry_msgs/PoseStamped.h>

namespace lidar_localization{
class PathPublisher{
public:
    PathPublisher(ros::NodeHandle& nh,std::string topic_name,
                  std::string frame_id,int buff);
    PathPublisher()=default;

    void PublishData(const Eigen::Matrix4f& transform_matrix,ros::Time time);
    void Publish(const Eigen::Matrix4f& transform_matrix,double time);
    ros::NodeHandle nh_;
    ros::Publisher publisher_;
    nav_msgs::Path path;
    std::string frame_id_;
};
}








#endif //SRC_PATH_PUBLISHER_H
